Zhenshan Bing, Dr.rer.nat

Zhenshan Bing, Dr. rer.nat

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Email: bing@in.tum.de

Room: MI.03.07.059

Roboterhalle

Phone: +49.89.289.18128

Fax: +49.89.289.18107

Address: Institut für Informatik VI

Technische Universität München

Boltzmannstraße 3, 85748, Garching bei München Germany

Office Hour: By appointment only

Curriculum Vitae

In August 2019, I joined the Human Brain Project SP10 Neurorobotics research group at TUM as a post-doc researcher. Previously, I received my Bachelor degree in Mechanical Design Manufacturing and Automation from Harbin Institute of Technology, China in 2013, and my M.Eng degree in Mechanical Engineering (State Key Laboratory of Robotics System) at the same university in 2015. I received my PhD degree in computer science from the Technical University of Munich under the supervision of Prof. Alois Knoll in June 2019.

My research investigates the bio-inspired robot which is controlled to achieve autonomous locomotion and self-adaptive behavior with spiking neural networks and reinforcement learning and its related applications.

If you are self-motivated for a robotic related thesis topic, please write me an email indicating your background and skills.

Services

Guest Editor of the Special Issue on Biological-Inspired Autonomous Mobile Manipulation, Frontiers in Neurorobotics
Guest Editor of Sensors on Special Issue "Robotic Control Based on Neuromorphic Approaches and Hardware"
Review Editor of Frontiers in Neurorobotics and Frontiers in Biomedical Robotics.
Serve as a Program Committee member for AAAI 2022

Open Thesis

On-going Theses

Currently, we have a small group of bachelor/master students working on several topics about reinforcement learning and spiking neural network. Some of the theses have successfully been published on peer-reviewed conferences and journals.

Demos

Robotics Control via Reinforcement Learning

Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation

Full text can be found at https://arxiv.org/abs/2007.13486.

Energy-Efficient Slithering Gait Exploration for a Snake-like Robot based on Deep Reinforcement Learning

Full text can be found at https://www.ijcai.org/Proceedings/2019/0785.pdf.

Publications

2022

Bing, Zhenshan; Lerch, David; Huang, Kai; Knoll, Alois: Meta-Reinforcement Learning in Non-Stationary and Dynamic Environments. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2022, 1-17 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Zhou, Hongkuan; Li, Rui; Su, Xiaojie; Morin, Fabrice O.; Huang, Kai; Knoll, Alois: Solving Robotic Manipulation with Sparse Reward Reinforcement Learning via Graph-Based Diversity and Proximity. IEEE Transactions on Industrial Electronics, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Huang, Yuhong; Bing, Zhenshan; Walter, Florian; Rohregger, Alex; Zhang, Zitao; Huang, Kai; Morin, Fabrice O.; Knoll, Alois: Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022 mehr… BibTeX Volltext (mediaTUM)
Tan, Yaoyao; Su, Xiaojie; Bing, Zhenshan; Yang, Xiaokui; Knoll, Alois: Reduced-Model Based Fault Detector and Controller Design for Discrete-Time Switching Fuzzy Systems. IEEE Transactions on Fuzzy Systems, 2022, 1-13 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhuang, Genghang; Bing, Zhenshan; Huang, Yuhong; Huang, Kai; Knoll, Alois: A Biologically Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022 mehr… BibTeX Volltext (mediaTUM)
Zhuang, Genghang; Cagnetta, Carlo; Bing, Zhenshan; Cao, Hu; Li, Xinyi; Huang, Kai; Knoll, Alois: A Biologically-Inspired Global Localization System for Mobile Robots Using LiDAR Sensor. 2022 IEEE Intelligent Vehicles Symposium, 2022 mehr… BibTeX Volltext (mediaTUM)

2021

Bing, Zhenshan; Brucker, Matthias; Morin, Fabrice O.; Li, Rui; Su, Xiaojie; Huang, Kai; Knoll, Alois: Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation. IEEE Transactions on Neural Networks and Learning Systems, 2021, 1-14 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Sewisy, Amir EI; and Zhuang, Genghang; Walter, Florian; Morin, Fabrice O.; Huang, Kai; Knoll, Alois: Toward Cognitive Navigation: Design and Implementation of a Biologically Inspired Head Direction Cell Network. IEEE Transactions on Neural Networks and Learning Systems, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Álvarez, Erick; Long, Cheng; Morin, Fabrice O.; Li, Rui; Su, Xiaojie; Huang, Kai; Knoll, Alois: Robotic Manipulation in Dynamic Scenarios via Bounding Box-Based Hindsight Goal Generation. IEEE Transactions on Neural Networks and Learning Systems, 2021, 1-14 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Lopez-Randulfe, Javier.; Duswald, Tobias; Bing, Zhenshan; Knoll, Alois: Spiking Neural Network for Fourier Transform and Object Detection for Automotive Radar. Frontiers in Neurorobotics (15), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
López-Randulfe, Javier; Duswald, Tobias; Bing, Zhenshan; Knoll, Alois: Spiking Neural Network for Fourier Transform and Object Detection for Automotive Radar. Frontiers in Neurorobotics 15, 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhou, Mingchuan; Jiang, Huanyu; Bing, Zhenshan; Su, Hang; Knoll, Alois: Design and evaluation of the target spray platform. International Journal of Advanced Robotic Systems 18 (2), 2021, 172988142199614 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhuang, Genghang; Bing, Zhenshan; Zhao, Jiaxi; Li, Ning; Huang, Yuhong; Huang, Kai; Knoll, Alois: A Biologically Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor. arXiv preprint arXiv:2109.12910, 2021 mehr… BibTeX

2020

Bing, Zhenshan; Lemke, Christian; Cheng, Long; Huang, Kai; Knoll, Alois: Energy-efficient and damage-recovery slithering gait design for a snake-like robot based on reinforcement learning and inverse reinforcement learning. Neural Networks, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Lemke, Christian; Morin, Fabric O.; Jiang, Zhuangyi; Cheng, Long; Huang, Kai; Knoll, Alois: Perception-Action Coupling Target Tracking Control for a Snake Robot via Reinforcement Learning. Frontiers in Neurorobotics 14, 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhuangyi Jiang, Richard Otto, Zhenshan Bing, Kai Huang, Alois Knoll: Target Tracking Control of a Wheel-less Snake Robot Based on a Supervised Multi-layered SNN. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 mehr… BibTeX Volltext (mediaTUM)

2019

Bing, Zhenshan; Lemke, Christian; Jiang, Zhuangyi; Huang, Kai; Knoll, Alois: Energy-Efficient Slithering Gait Exploration for a Snake-like Robot based on Reinforcement Learning. The 28th International Joint Conference on Artificial Intelligence (IJCAI-19), Macao, China, 10-16 August 2019, 2019 mehr… BibTeX Volltext (mediaTUM)
Bing, Zhenshan; Baumann, Ivan; Jiang, Zhuangyi; Huang, Kai; Cai, Caixia; Knoll, Alois: Supervised Learning in SNN via Reward-Modulated Spike-Timing-Dependent Plasticity for a Target Reaching Vehicle. Frontiers in Neurorobotics 13, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Jiang, Zhuangyi; Cheng, Long; Cai, Caixia; Huang, Kai; Maier; Knoll, Alois: End to End Learning of a Multi-layered SNN Based on R-STDP for a Target Tracking Snake-like Robot, to be appear. 2019 IEEE International Conference on Robotics and Automation(ICRA), 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Meschede, Claus, Huang, Kai,; Chen, Guang; Knoll, Alois: Indirect and Direct Training of Spiking Neural Networks for End-to-End Control of a Lane-Keeping Vehicle. Neural Networks, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Chen, Guang; Bing, Zhenshan; Roehrbein, Florian; Conradt, Jorg; Huang, Kai; Cheng, Long; Jiang, Zhuangyi; Knoll, Alois: Toward Brain-inspired Learning with the Neuromorphic Snake-like Robot and the Neurorobotic Platform. IEEE Transactions on Cognitive and Developmental Systems, 2019, 1-1 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Cheng, Long; Huang, Kai; Chen, Gang; Bing, Zhenshan; Knoll, Alois C.: Adaptive Periodic Thermal Management for Pipelined Hard Real-Time Systems. IEEE Access 7, 2019, 114731-114746 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Miao, Shu; Chen, Guang; Ning, Xiangyu; Zi, Yang; Ren, Kejia; Bing, Zhenshan; Knoll, Alois: Neuromorphic Vision Datasets for Pedestrian Detection, Action Recognition, and Fall Detection. Frontiers in Neurorobotics 13, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhuangyi Jiang, Pengfei XIA, Kai Huang, Walter Stechele, Guang Chen, Zhenshan Bing, Alois Knoll: Mixed Frame-/Event-Driven Fast Pedestrian Detection. 2019 International Conference on Robotics and Automation (ICRA), 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhuangyi Jiang, Zhenshan Bing, Kai Huang, Alois Knoll: Retina-based Pipe-like Object Tracking Implemented through Spiking Neural Network on a Snake Robot. Frontiers in Neurorobotics, 2019 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2018

Bing, Zhenshan; Meschede, Claus; Huang, Kai; Chen, Guang; R̈ohrbein, Florian; Akl, Mahmoud; Knoll, Alois: End to End Learning of Spiking Neural Network based on R-STDP for a Lane Keeping Vehicle, to be appear. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Meschede, Claus; Röhrbein, Florian; Huang, Kai; Knoll, Alois C.: A Survey of Robotics Control Based on Learning-Inspired Spiking Neural Networks. Frontiers in Neurorobotics 12, 2018 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Chen, Guang; Cao, Hu; Aafaque, Muhammad; Chen, Jieneng; Ye, Canbo; Röhrbein, Florian; Conradt, Jörg; Chen, Kai; Bing, Zhenshan; Liu, Xingbo; Hinz, Gereon; Stechele, Walter; Knoll, Alois: Neuromorphic Vision Based Multivehicle Detection and Tracking for Intelligent Transportation System. Journal of Advanced Transportation 2018, 2018, 1-13 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Zhou, Mingchuan; Cheng, Long; Dell'Antonio, Manuel; Wang, Xiebing; Bing, Zhenshan; Nasseri, M. Ali; Huang, Kai; Knoll, Alois: Peak Temperature Minimization for Hard Real-time Systems using DVS and DPM. Journal of Circuits, Systems and Computers, 2018 mehr… BibTeX Volltext ( DOI )

2017

Bing, Zhenshan; Cheng, Long; Chen, Guang; Röhrbein, Florian; Huang, Kai; Knoll, Alois: Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot. Bioinspiration & Biomimetics 12 (3), 2017, 035001 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Cheng, Long; Huang, Kai; Jiang, Zhuangyi; Chen, Guang; R̈ohrbein, Florian; Knoll, Alois: Towards Autonomous Locomotion: Slithering Gait Design of a Snake-like Robot for Target Observation and Tracking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 mehr… BibTeX Volltext (mediaTUM)
Bing, Zhenshan; Cheng, Long; Huang, Kai; Zhou, Mingchuan; Knoll, Alois: CPG-based control of smooth transition for body shape and locomotion speed of a snake-like robot. 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Bing, Zhenshan; Cheng, Long; Knoll, Alois; Zhong, Anyang; Huang, Kai; Zhang, Feihu: Slope angle estimation based on multi-sensor fusion for a snake-like robot. 2017 20th International Conference on Information Fusion (Fusion), IEEE, 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Cheng, Long; Bing, Zhenshan; Knoll, Alois; Huang, Kai: Biologically Inspired Spiking Neural Network for Autonomous Locomotion Control of Snake-Like Robots. International Journal of Biosensors & Bioelectronics, 2017 mehr… BibTeX Volltext (mediaTUM)
Hinz, Gereon; Chen, Guang; Aafaque, Muhammad; Rohrbein, Florian; Conradt, Jorg; Bing, Zhenshan; Qu, Zhongnan; Stechele, Walter; Knoll, Alois: Online Multi-Object Tracking-by-Clustering for Intelligent Transportation System with Neuromorphic Vision Sensor. the 40th German Conference on Artificial Intelligence(KI 2017), 2017 mehr… BibTeX Volltext (mediaTUM)
Jiang, Zhuangyi; Bing, Zhenshan; Huang, Kai; Chen, Guang; Cheng, Long; Knoll, Alois: Event-based Target Tracking Control for a Snake Robot Using a Dynamic Vision Sensor. International Conference On Neural Information Processing (ICONIP), 2017 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Xiao, Shanshan; Bing, Zhenshan; Huang, Kai; Huang, Yuhong: Snake-like Robot Climbs Inside Different Pipes. 2017 IEEE International Conference on Robotics and Biomimetics, 2017 mehr… BibTeX
Xiao, Shanshan; Bing, Zhenshan; Huang, Kai; Huang, Yuhong: Snake-like robot climbs inside different pipes. 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017 mehr… BibTeX

2016

Bing, Zhenshan; Cheng, Long; Huang, Kai; Zhou, Mingchuan; Knoll, Alois: A CPG-based Control Architecture for 3D Locomotion of a snake-like robot. Technische Universiẗat M̈unchen, 2016, mehr… BibTeX Volltext (mediaTUM)